CN114434424A - Bionic spine mechanism - Google Patents
Bionic spine mechanism Download PDFInfo
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- CN114434424A CN114434424A CN202210083408.4A CN202210083408A CN114434424A CN 114434424 A CN114434424 A CN 114434424A CN 202210083408 A CN202210083408 A CN 202210083408A CN 114434424 A CN114434424 A CN 114434424A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 65
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 37
- 230000003592 biomimetic effect Effects 0.000 claims description 10
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 4
- 239000000741 silica gel Substances 0.000 claims description 4
- 229910002027 silica gel Inorganic materials 0.000 claims description 4
- 210000000988 bone and bone Anatomy 0.000 claims 4
- 230000007935 neutral effect Effects 0.000 claims 2
- 230000002146 bilateral effect Effects 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 16
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 210000001503 joint Anatomy 0.000 description 26
- 238000010586 diagram Methods 0.000 description 5
- 238000011084 recovery Methods 0.000 description 5
- 238000004904 shortening Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 208000000875 Spinal Curvatures Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000124008 Mammalia Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 238000010618 wire wrap Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a bionic spine mechanism in the technical field of bionic robots, and aims to solve the problem that in the prior art, when a rope is used for controlling the bending of the bionic spine structure, the releasing amount of the rope is not enough to meet the requirement of spine bending. The spine joint connecting device comprises a front frame and a rear frame, wherein a spine head end is arranged on the front frame, a spine tail end is arranged on the rear frame, and at least one spine joint is movably connected between the spine head end and the spine tail end; at least one driving mechanism is arranged on the front rack and/or the rear rack and used for controlling the overall motion of the spine, and when the driving mechanism controls the bionic spine to be bent, the length of the rope released from one side is longer than the length of the rope retracted from the other side; the invention is suitable for controlling the bionic spine mechanism of the bionic robot, can provide a rope with enough length for the spine to meet the bending requirement when bending, overcomes the problem of inconvenient use of a rope control mode, and is beneficial to use in practical application.
Description
Technical Field
The invention relates to a bionic spine mechanism, and belongs to the technical field of bionic spines.
Background
When fire, mine disaster, nuclear leakage, terrorist attack and other events happen, dangerous tasks such as search and rescue, anti-terrorism, explosive disposal, reconnaissance and the like are often required. In order to reduce casualties, mobile robots are often used. Because the ground environment is complex, the adaptability of the traditional wheeled and tracked robots is poor, and therefore, the quadruped robot in point contact with the ground in the motion process has a great application prospect. Quadruped robots are bionic robots imitating mammals, and prototypes in real life often have spines with flexible movement, so that the quadruped robots can realize stable, flexible and efficient movement.
The existing organic bionic spine mechanism is usually associated with spine joints by matching structural members such as ropes, springs and the like, the spine joints are integrally bent by controlling different rope linkage devices, and under the condition that the bending amplitude of the spine is large, because the required extending amount of one side after bending is larger than the corresponding rope receiving amount of the other side, the condition that the spine cannot be bent is easily caused in a rope winding driving mode, so that the bionic spine cannot normally work, and the use of the bionic spine in actual application is not facilitated.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a bionic spine mechanism which is used in the field of bionic robots.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
on one hand, the invention provides a bionic spine mechanism, which comprises a front frame and a rear frame, wherein the front frame is provided with a spine head end, the rear frame is provided with a spine tail end, and at least one spine joint is movably connected between the spine head end and the spine tail end;
the bionic spine control device is characterized in that at least one driving mechanism is installed on the front rack and/or the rear rack, a wire spool is arranged at the output end of each driving mechanism, a plurality of ropes on the wire spool penetrate through the upper side, the lower side, the left side and the right side of the joints of the spine respectively and are used for controlling the overall movement of the spine, and when the driving mechanisms control the bionic spine to be bent, the length of the ropes emitted from one side is larger than the length of the ropes folded from the other side.
The driving mechanism comprises a first power machine, the first power machine drives a first wire spool to rotate bidirectionally, the first wire spool comprises a first upper disk and a first lower disk fixedly connected with the first upper disk, the first upper disk and the first lower disk are both in a fan shape, two ropes which pass through a circular arc surface of a corresponding fan-shaped structure and a plurality of spinal joints and are connected with the head end or the tail end of a spinal column are respectively arranged on the first upper disk and the first lower disk, and the two ropes connected with the first upper disk and the first lower disk are arranged on two opposite sides of the spinal joints.
Specifically, in the return-to-center position state, two opposite ropes are tangent to the corresponding first upper disc and the corresponding first lower disc respectively, and the tangent positions of the two ropes are the sector initial positions of the first upper disc and the first lower disc respectively.
Specifically, the central angles of the sectors where the first upper tray and the first lower tray are located are both smaller than 180 degrees.
The first power machine is fixedly mounted on the front rack, the two ropes on the wire spool penetrate through the spinal joints to be connected with the tail end of the spinal column, the second power machine is fixedly mounted on the rear rack and drives the second wire spool to rotate in two directions, the second wire spool is semicircular, the second wire spool is respectively wound with two ropes passing through an arc surface of a semicircular structure and a plurality of spinal joints and connected to the head end of the spinal column, and the two ropes on the second wire spool are arranged on the other two opposite sides of the spinal joints.
Specifically, the driving mechanism comprises a second power machine, the second power machine drives the second wire reels to rotate in two directions, the second wire reels are semicircular, each second wire reel is respectively wound with two ropes passing through an arc surface of a semicircular structure and a plurality of spinal joints and connected to the head end or the tail end of the corresponding spinal column, and the two ropes on each second wire reel are arranged on two opposite sides of the spinal joints.
The spine joint comprises cross universal joints, shafts, connecting pieces and vertebrae, the adjacent cross universal joints are connected through the shafts, the connecting pieces are sleeved on the cross universal joints, the vertebrae are arranged on the outer sides of the cross universal joints and fixedly connected with the connecting pieces, and each vertebra is provided with a plurality of through holes for the ropes to penetrate through.
Specifically, two sides of each vertebra are provided with elastic elements with two sides stressed, and the elastic elements are silica gel blocks.
Specifically, a groove is formed in the wire wrapping position of each wire spool.
Specifically, in the return-to-center position state, the distances from the ropes on the upper, lower, left and right sides to the central axis of the cross universal joint are equal.
Compared with the prior art, the invention has the following beneficial effects:
according to the bionic spine mechanism provided by the invention, the corresponding driving mechanism is arranged on the front rack and/or the rear rack, so that a rope with enough length is provided when the spine is bent, the situation that the spine cannot be bent due to the limitation of the rope is avoided, and the normal bending use of the spine structure can be effectively ensured;
in addition, the invention provides two driving mechanisms, the releasing quantity of one side of the rope can be directly larger than the receiving quantity of the other side of the rope through the matching of the two driving mechanisms or the single use of the two driving mechanisms, the control mode is simple, the failure rate is low, and the rope is beneficial to the use in practical application.
Drawings
FIG. 1 is a perspective view of a biomimetic spinal mechanism provided in an embodiment of the present invention;
FIG. 2 is an elevation view of a biomimetic spinal mechanism provided in an embodiment of the present invention;
FIG. 3 is a right side view of a biomimetic spinal mechanism provided in an embodiment of the present invention;
FIG. 4 is a top view of a biomimetic spinal mechanism provided in an embodiment of the present invention;
FIG. 5 is an exploded view of a biomimetic spinal mechanism provided in an embodiment of the present invention;
FIG. 6 is a schematic representation of the relationship between the amount of change in the cables between the spinal joints when the biomimetic spinal mechanism provided in embodiments of the present invention is flexed;
FIG. 7 is a schematic diagram illustrating the relationship between the pay-out and take-in of a cable as the first spool of the biomimetic spine mechanism provided in an embodiment of the present invention rotates;
FIG. 8 is a schematic diagram illustrating the relationship between the pay-out and take-in amounts of a cable as a second spool rotates in accordance with an embodiment of the present invention;
FIG. 9 is a dot-matrix diagram of the relationship between the rotation angle of the spinal joint and the amount of extension and shortening of the various portions of the cord, as provided by an embodiment of the present invention;
reference numerals: 1. a front frame; 2. a rear frame; 3. a first power machine; 4. a second power machine; 5. a first wire spool; 501. a first upper tray; 502. a first lower disc; 503. an upper rope mounting point; 504. a lower rope mounting point; 6. a second spool; 601. a left rope mounting point; 602. a right rope mounting point; 7. the tail end of the spine; 8. a head end of the spine; 9. a cross universal joint; 10. a shaft; 11. a connecting member; 12. the vertebra vertebrae; 13. a silica gel block; 1401. an upper rope; 1402. a lower rope; 1403. a left portion rope; 1404. a right rope.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The first embodiment is as follows:
the bionic spine mechanism provided by the embodiment of the invention can provide a rope with enough length when a spine is bent, avoids the situation that the spine cannot be bent due to the limitation of the rope, can effectively ensure the normal bending use of a spine structure, and particularly provides a rack of equipment, wherein the equipment comprises a front rack 1 and a rear rack 2, a spine head end 8 is arranged on the front rack 1, a spine tail end 7 is arranged on the rear rack 2, at least one spine joint is movably connected between the spine head end 8 and the spine tail end 7, and at the moment, the spine tail end 7 and the spine head end 8 can realize the offset of relative positions through the movement of the spine joint; in order to ensure the control of the whole spine joint, at least one driving mechanism is arranged on the front frame 1 and/or the rear frame 2, a wire spool is arranged at the output end of each driving mechanism, a plurality of ropes on the wire spools are arranged on the upper side, the lower side, the left side and the right side of a plurality of spine joints in a penetrating way respectively to control the motion of the whole spine (taking the bending of the spine in the horizontal direction as an example, the driving mechanism only changes the retraction length of the ropes on the left side and the right side at the moment, the bending of the whole spine is realized by integrating the limitation of the spine joints, at the moment, in order to ensure the orderly bending degree among the spine joints, corresponding limiting elements are arranged among the spine joints, such as a spring structure in the prior art and the like, the excessive description is not carried out at this moment), in order to realize the larger bending amplitude of the spine structure, when the driving mechanism controls the bending of the bionic spine, the length of the rope paid out from one side of the support is longer than the length of the rope folded from the other side (the specific control mode can be that each rope is independently controlled by adopting a corresponding control circuit, and the requirement of spinal curvature can be met by adopting a mechanical linkage control mode).
Example two:
the technical solution provided in this embodiment is different from the first embodiment in that: the linkage type driving mechanism is simpler in control mode, convenient to install and maintain and beneficial to use in production practice compared with the first embodiment. The driving mechanism specifically arranged here includes a first power machine 3, the first power machine 3 is arranged to drive a first wire spool 5 to rotate bidirectionally, the first wire spool 5 includes a first upper plate 501 and a first lower plate 502 fixedly connected to the first upper plate 501, the first upper plate 501 and the first lower plate 502 are both arranged in a fan shape and are staggered in position (as shown in fig. 5), the first upper plate 501 and the first lower plate 502 are respectively provided with two ropes passing through arc surfaces of corresponding fan-shaped structures (the initial positions of the ropes are shown as an upper rope mounting point 503 and a lower rope mounting point 504, but not limited thereto, and may satisfy the requirements), a plurality of spinal joints and connected to a spinal head end 8 or a spinal tail end 7, at this time, the two ropes connected to the first upper plate 501 and the first lower plate 502 are arranged on opposite sides of the spinal joints, and when the first wire spool 5 is vertically arranged, the first upper plate 501 and the first lower plate 502 control the upper rope 1401 and the lower rope 1402 (a left rope 1403 and a right rope 1404) respectively In the same way), when setting up first wire reel 5 at the opposite side level this moment in the same way, control the rope of the left and right sides respectively, when first wire reel 5 adopted this kind of fan-shaped structure, the volume of putting out of its one side rope will be greater than the volume of receiving and putting in of opposite side rope, guarantees that backbone structure can be in the bending under the great range, specifically according to and reason as follows:
as shown in fig. 7, which is a schematic diagram of the rope length variation driven by the rotation angle of the first wire spool 5 (taking the retracting of the upper rope 1401 as an example here), the positional relationship between the first upper disc 501 and the first lower disc 502 is shown in fig. 7, where the upper rope 1401 rotates clockwise via the first upper disc 501, the actual variation of the upper rope 1401 is the difference between the lengths of two line segments, the releasing amount of the lower rope 1402 is the actual moving distance of the rope passing through the fan-shaped contour, the actual retracting length of the upper rope 1401 is a line segment under the stretching action, the releasing amount of the lower rope 1402 is an arc, and vice versa, the variation formulas of the lengths of the upper and lower rope at this time are respectively:
lLO1＝βl4
in the formula ITB1The amount of recovery of the rope when the first spool 5 rotates,/LO1Is the amount of the rope discharged when the first spool 5 rotates,/3Is the distance from the center of the first wire spool 5 to the head end 8 of the spine, l4The radius of the first wire spool 5 is taken into related data, and the recovery amount of the rope is smaller than the discharge amount of the rope.
In order to ensure the accurate application of the formula and ensure that the variation of the ropes is accurately controlled by human to meet the use requirement, the bionic spine mechanism provided by the embodiment of the invention can be arranged in a return-to-center position state, two opposite ropes are respectively tangent to the corresponding first upper disc 501 and first lower disc 502, the tangent positions of the two ropes are respectively the starting positions of the sectors where the first upper disc 501 and the first lower disc 502 are located, and when the starting positions are the positions, the recovery amount l isTB1And a discharge amount lLO1Can be directly expressed byIn practice, there are no ranges of curvature and line segment variation (within a limited range) that do not correspond to them, making the spine mechanism difficult to bend during initial operation.
In order to prevent the influence of the sector structure part for accommodating the rope on the rope during the excessive rotation, the central angles of the sectors where the first upper disc 501 and the first lower disc 502 are arranged are both smaller than 180 degrees, so that the collision of the rope structure part caused by the excessive rotation can be effectively prevented, and the influence on the normal control of the spine mechanism can be effectively avoided.
Example three:
the bionic spine mechanism provided by the embodiment of the invention is different from the second embodiment in that: an additional drive mechanism is provided which cooperates with the drive mechanism of the second embodiment to effect overall flexion of the spine. The driving mechanism in this embodiment includes a second power machine 4, at this time, the first power machine 3 is fixedly mounted on the front frame 1 (the second power machine 4 is mounted at an opposite position to provide a reasonable mounting space), the second power machine 4 is fixedly mounted on the rear frame 2, at this time, two ropes on the first wire reel 5 are connected to the spine tail end 7 through a plurality of spine joints (the first wire reel 5 is controlled to rotate when the spine is required to be bent), the second power machine 4 is arranged to drive the second wire reel 6 to rotate bidirectionally, at this time, the second wire reel 6 is arranged in a semicircular shape, and two ropes connected to the spine head end 8 through an arc surface of a semicircular structure and a plurality of spine joints are respectively wound on the second wire reel 6 (the positions of the left rope 601 and the right rope mounting point 602 can be shown in fig. 5), and the two ropes on the second wire reel 6 are arranged on the other two sides opposite to the spine joints (here, the two ropes are referred to the first power machine mounting point) 3 two sides with different control directions). When the second wire spool 6 adopts the fan-shaped structure, the action principle is similar to that of the first wire spool 5 (as shown in fig. 8), the recovery amount of the rope belongs to the difference value of the lengths of the two line segments, and the release amount of the rope is equal to the length of the lower arc line of the corresponding angle, and the specific formula is as follows:
lLO2＝γl5
here, |TB2The amount of withdrawal of the rope when the second spool 6 is rotated, lLO2For the amount of the rope paid out when the second spool 6 is rotated,/5Is the radius of the second wire spool 6,/6The distance from the circle center of the second wire spool 6 to the tail end 7 of the spine, the reduction amount of the rope between the joints of the spine can be simply led out to be smaller than the elongation amount through taking in relevant data, and the aim of normally bending the spine mechanism is fulfilled. At this time, the second wire spool 6 with the semicircular structure, like the second embodiment, is to accurately use the formula package to ensure the normal action when the structure starts, and the plane where the semicircular structure at the centering position (initial position) is located can be set to be parallel to the plane of the tail end 7 of the spine (refer to fig. 4), so as to ensure that the variation range of each line segment is within the ideal control range.
Example four:
the bionic spine mechanism provided by the embodiment of the invention is different from the second or third embodiment in that: through utilizing the actuating mechanism that provides in the third embodiment, only set up it respectively at backbone head end 8 and backbone tail end 7, place the matched with mode through vertical placing and level in order to satisfy the in-service use demand, two ropes on two second wire reels 6 all locate the relative both sides of a plurality of backbone joints this moment (the crooked of a wire reel control left and right sides or upper and lower direction only).
Example five:
the bionic spine mechanism provided by the embodiment of the invention is different from the first embodiment in that the components of the bionic spine mechanism are thinned, and a reliable structural basis is provided for the implementation of the first embodiment, specifically, the spine joint comprises a universal joint cross 9, a shaft 10, a connecting piece 11 and a vertebra 12, at the moment, the adjacent universal joint cross 9 are connected through the shaft 10, the connecting piece 11 is sleeved on the universal joint cross 9, the vertebra 12 is arranged on the outer side of the universal joint cross 9, the vertebra 12 and the connecting piece 11 are fixedly connected, each vertebra 12 is provided with a plurality of through holes for penetrating through ropes, and the shape, the number and the specification of the structure can be replaced according to the actual use requirements, so that the technical scheme of the invention can be fully implemented.
In order to make the elastic change between the adjacent spinal joints uniform, two sides of each vertebra 12 may be provided with elastic elements with two sides stressed, and the elasticity of the spinal column may be enhanced by utilizing the elastic force at the two ends of the elastic elements, which is beneficial to centering the position of the spinal column, and in particular, the embodiment provides an elastic element as a silica gel block 13 to meet the above requirements (as shown in fig. 5).
In order to prevent the rope from falling off in the movement process, grooves for containing the rope are formed in the wrapping position of each wire spool, so that the bionic mechanism is prevented from being separated from the control mechanism due to the fact that the rope slides.
In order to control the recovery amount and the release amount of the rope required by spinal curvature conveniently, the rope on the upper side, the lower side, the left side and the right side of the mechanism can be set to have equal position distances from the central shaft of the cross universal joint (9) in a return-to-center position state, and the corresponding shortening amount and the corresponding extension amount are in accordance with the following formula (see fig. 6):
at this time lDETo reduce the amount of rope shortening,/INThe elongation of the rope is shown in the formula, wherein n is the number of joints, and alpha is the rotation angle of a single spinal joint; l1The distance of the cable from the radial axis of the universal joint cross 9,/2Is the distance between adjacent vertebrae 12. The corresponding data is taken in to obtain a dot-matrix diagram as described in fig. 9, at which the amount of shortening of the cord that drives the curvature of the spinal structure is reduced by lDEIs an active value,/INFor the required elongation of the rope, the actual elongation l of the two drive mechanisms provided in the above-described embodiments can be derived from the data in the figureLO1And lLO2Are all larger than the required elongation, and meet the requirement of spinal structure bending.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A bionic spine mechanism is characterized by comprising a front rack (1) and a rear rack (2), wherein a spine head end (8) is arranged on the front rack (1), a spine tail end (7) is arranged on the rear rack (2), and at least one spine joint is movably connected between the spine head end (8) and the spine tail end (7);
the bionic spine control device is characterized in that at least one driving mechanism is installed on the front frame (1) and/or the rear frame (2), a wire spool is arranged at the output end of each driving mechanism, a plurality of ropes on the wire spool penetrate through the upper side, the lower side, the left side and the right side of a plurality of spine joints respectively and are used for controlling the overall movement of the spine, and when the driving mechanisms control the bionic spine to be bent, the length of the ropes emitted from one side is larger than the length of the ropes collected from the other side.
2. The bionic spine mechanism according to claim 1, characterized in that the driving mechanism comprises a first power machine (3), the first power machine (3) drives a first wire spool (5) to rotate in two directions, the first wire spool (5) comprises a first upper disk (501) and a first lower disk (502) fixedly connected with the first upper disk (501), the first upper disk (501) and the first lower disk (502) are both arranged in a fan shape, two ropes connected with a spine head end (8) or a spine tail end (7) through a circular arc surface and a plurality of spine joints corresponding to the fan shape structure are respectively arranged on the first upper disk (501) and the first lower disk (502), and the two ropes connected with the first upper disk (501) and the first lower disk (502) are arranged on two opposite sides of the spine joints.
3. The bionic spinal mechanism as claimed in claim 2, wherein in the neutral position state, two opposite ropes are tangent to the corresponding first upper disc (501) and the first lower disc (502), and the tangent positions of the two ropes are the sector starting positions of the first upper disc (501) and the first lower disc (502).
4. A biomimetic spinal mechanism according to claim 3, wherein the central angles of the sectors in which the first upper plate (501) and the first lower plate (502) are located are both less than 180 °.
5. The bionic spine mechanism according to any one of claims 2-4, characterized by further comprising a second power machine (4), wherein the first power machine (3) is fixedly mounted on the front frame (1), the two ropes on the first wire spool (5) pass through a plurality of spine joints to be connected with the spine tail end (7), the second power machine (4) is fixedly mounted on the rear frame (2), the second power machine (4) drives the second wire spool (6) to rotate bidirectionally, the second wire spool (6) is semicircular, the second wire spool (6) is respectively wound with two ropes passing through a semicircular arc surface and a plurality of spine joints and being connected with the spine head end (8), and the two ropes on the second wire spool (6) are arranged on the other opposite sides of the spine joints.
6. The bionic spine mechanism according to claim 1, characterized in that the driving mechanism comprises a second power machine (4), the second power machine (4) drives the second wire reels (6) to rotate bidirectionally, the second wire reels (6) are arranged in a semicircular shape, each second wire reel (6) is respectively wound with an arc surface passing through the semicircular structure and a plurality of spine joints and is connected with two ropes at the head end (8) or the tail end (7) of the corresponding spine, and the two ropes on each second wire reel (6) are arranged at two opposite sides of the spine joints.
7. The bionic spinal mechanism according to claim 1, characterized in that the spinal joints comprise universal joint crosses (9), a shaft (10), a connecting piece (11) and vertebra bones (12), adjacent universal joint crosses (9) are connected through the shaft (10), the connecting piece (11) is sleeved on the universal joint crosses (9), the vertebra bones (12) are arranged on the outer side of the universal joint crosses (9), the vertebra bones (12) are fixedly connected with the connecting piece (11), and each vertebra bone (12) is provided with a plurality of through holes for the rope to pass through.
8. A biomimetic spinal mechanism according to claim 7, characterized in that each vertebra (12) is provided with a bilateral elastic element on both sides, wherein the elastic element is a silica gel block (13).
9. The biomimetic spine mechanism according to claim 1, wherein a groove is formed in a wrapping line position portion of each wire spool.
10. The bionic spine mechanism as claimed in claim 1, wherein in the neutral position state, the distances between the ropes on the upper, lower, left and right sides and the central axis of the cross universal joint (9) are equal.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210083408.4A CN114434424B (en) | 2022-01-25 | 2022-01-25 | Bionic spine mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210083408.4A CN114434424B (en) | 2022-01-25 | 2022-01-25 | Bionic spine mechanism |
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| CN114434424A true CN114434424A (en) | 2022-05-06 |
| CN114434424B CN114434424B (en) | 2024-01-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114750908A (en) * | 2022-05-07 | 2022-07-15 | 广州大学 | Driveable flexible skeleton based on bionic spine morphology and control method thereof |
| CN115284314A (en) * | 2022-08-20 | 2022-11-04 | 西南交通大学 | Multifunctional flexible robot applied to ruins search and rescue |
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